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Sylvain Guegan

Associate Professor at Institut National des Sciences Appliquées (INSA) de Rennes
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**Actual position** ------------------- Associate Professor at Institut National des Sciences Appliquées (INSA) de Rennes: - Mechanical and control system engineering department - Laboratory of Civil and Mechanical Engineering (LGCGM-EA3913) / Calibration and control of robotic systems team 20 avenue des Buttes de Coësmes, CS 70839, 35708 Rennes Cedex, FRANCE. sylvain.guegan@insa-rennes.fr / +33 (0)2 23 23 84 94 / http:www.insa-rennes.fr Education --------- - 2003-2004 Postdoctoral research, Study of different control modes of a wave energy recovery system (SEAREV Project), Ecole Centrale de Nantes, France. - 2000-2003 PHD in Automatic Control and Computer Science, Contribution to dynamic modeling and identification of parallel robots, Ecole Centrale de Nantes, France. - 1999-2000 Master (DEA) in Automatic Control and Computer Science, Ecole Centrale de Nantes, France Research Activities ------------------- My research deals with design, modelling and dynamic identification of multi-body mechatronic systems and their control. My current works focuses on improving the driving of electric wheelchairs by studying their design and dynamic behavior (as part of the Interreg France-Manche-Angleterre project ADAPT (2016-2021), dedicated to Assistive Devices for empowering disAbled People through robotic Technologies). Teaching Activities ------------------- My teaching focuses in the field of mechatronics: - License Level (under-graduate): automated systems (since 2013), industrial sciences (since 2014) - Master Level: Basis of Linear Electronics (2004-2010), Introduction to Matlab/Simulink (since 2011), Signals and Systems (since 2004), Electrical and Electronic Engineering (since 2004), Robotics (since 2016), Control engineering (since 2004): control theory, system identification, PID controller, root locus, digital control, state space, state observer, dynamic control, optimal control, Kalman filter. Administrational Responsibilities --------------------------------- - Member of mechanical and control system engineering department Council (2010-2018) - Industrial placement coordinator of mechanical and control system engineering department (2004-2007) - Responsible for first year students of mechanical and control system engineering department (2007-2012) - Chargé de mission for training direction on school management software (since 2010) - Member of the LGCGM Laboratory Council (2009-2013 / since 2018) - Responsible of calibration and control of robotic systems team (since 2018) - Expertise of the French research tax credit (CIR) (2009-2015)

Publications

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Assistive Robotic Technologies for Next-Generation Smart Wheelchairs: Codesign and Modularity to Improve Users' Quality of Life

Fabio Morbidi , Louise Devigne , Catalin Stefan Teodorescu , Bastien Fraudet , Emilie Leblong
IEEE Robotics and Automation Magazine, 2023, 30 (1), pp.24-35. ⟨10.1109/MRA.2022.3178965⟩
Journal articles hal-03709574v1
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Elasto-Geometrical Model-Based Control of Industrial Manipulators Using Force Feedback: Application to Incremental Sheet Forming

Marwan Johra , Eric Courteille , Dominique Deblaise , Sylvain Guégan
Robotics, 2022, 11 (2), pp.48. ⟨10.3390/robotics11020048⟩
Journal articles hal-03657842v1
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Taking caster wheel behavior into account in the kinematics of powered wheelchairs

Aline Baudry , Sylvain Guegan , Marie Babel
Modelling, measurement and control C, 2018, 79 (4), pp.168-172. ⟨10.18280/mmc_c.790403⟩
Journal articles hal-02124781v1

Non-destructive Testing of Porosity in Laser Welded Aluminium Alloy Plates: Laser Ultrasound and Frequency-Bandwidth Analysis

Diot Gaël , Afia Kouadri-David , H. Walaszek , Sylvain Guegan , Jihed Flifla
Journal of Nondestructive Evaluation, 2013, 32 (4), pp 354-361. ⟨10.1007/s10921-013-0189-5⟩
Journal articles hal-01005166v1
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PAMINSA: a New Family of Decoupled Parallel Manipulators

Sébastien Briot , Vigen Arakelian , Sylvain Guegan
Mechanism and Machine Theory, 2009, 44 (2), pp.Vol. 44, No. 2
Journal articles hal-00362520v1
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Design and Prototyping of a New Balancing Mechanism for Spatial Parallel Manipulators

Cédric Baradat , Vigen Arakelian , Sébastien Briot , Sylvain Guegan
Journal of Mechanical Design, 2008, 130 (7)
Journal articles hal-00451887v1
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Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator with High-Load Carrying Capacity

Sébastien Briot , Vigen Arakelian , Sylvain Guegan
Transaction of the ASME, Journal of Mechanical Design, 2008, 130 (12), pp.Vol. 130, No. 12
Journal articles hal-00362518v1
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Inverse and Direct Dynamic Modeling of Gough-Stewart Robots

Wisama Khalil , Sylvain Guegan
IEEE Transactions on Robotics and Automation, 2004, 20 (4), pp.754-762
Journal articles hal-00401751v1
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A generic power wheelchair lumped model in the sagittal plane: towards realistic self-motion perception in a virtual reality simulator

Fabien Grzeskowiak , Ronan Le Breton , Louise Devigne , François Pasteau , Marie Babel
ICRA 2023 - IEEE International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom. pp.1-6
Conference papers hal-04044201v1
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Robotics at the Service of Wheelchair Mobility for People with Disabilities: Story of a Clinical-Scientific Partnership

Emilie Leblong , Bastien Fraudet , Louise Devigne , François Pasteau , Sylvain Guegan
AAATE 2023 - 17h International Conference of the Association for the Advancement of Assistive Technology in Europe, AAATE, Aug 2023, Paris, France. pp.1-6, ⟨10.3233/SHTI230654⟩
Conference papers hal-04217516v1
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Model-based upper-limb gravity compensation strategies for active dynamic arm supports

Maxime Manzano , Sylvain Guégan , Ronan Le Breton , Louise Devigne , Marie Babel
ICORR 2023 - IEEE International Conference on Rehabilitation Robotics, Sep 2023, Singapore, Singapore. pp.1-6
Conference papers hal-04217470v1
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SWALKIT: A generic augmented walker kit to provide haptic feedback navigation assistance to people with both visual and motor impairments

Fabien Grzeskowiak , Louise Devigne , François Pasteau , Gustavo Souza Vieira Dutra , Marie Babel
IEEE Int. Conf. on Rehabilitation Robotics, ICORR'22, Jul 2022, Rotterdam, Netherlands. pp.1-6
Conference papers hal-03709659v1
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Évaluation expérimentale de la modélisation énergétique d'un fauteuil roulant électrique

Jean-Yves y Ertaud , Nicolas Ragot , Ronaldo da Silva Moura , Paul Alias , Marie Babel
Handicap 2020 Technologies pour l'autonomie et l'inclusion, Nov 2020, Paris, France
Conference papers hal-02992572v1

Modélisation énergétique d’un fauteuil roulant électrique pour prédire la faisabilité d’effectuer un trajet

Jean Yves Ertaud , Nicolas Ragot , Ronaldo da Silva Moura , Paul Alias , Marie Babel
Handicap 2020 - 11e conférence de l'IFRATH sur les technologies d'assistance, Nov 2020, Paris, France
Conference papers hal-03050656v1

Expérience de conduite en fauteuil roulant dans une ville virtuelle avec un simulateur multisensoriel conçu selon une approche centrée sur l'utilisateur : une étude de cas

Louise Devigne , Marie Babel , Ronan Le Breton , Emilie Leblong , Valérie Gouranton
SOFMER 2019 - 34e congrès de la Société Français de Médecine Physique et de Réadaptation, Oct 2019, Bordeaux, France
Conference papers hal-02339573v1
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User-centered design of a multisensory power wheelchair simulator: towards training and rehabilitation applications

Guillaume Vailland , Fabien Grzeskowiak , Louise Devigne , Yoren Gaffary , Bastien Fraudet
ICORR 2019 - International Conference on Rehabilitation Robotics, Jun 2019, Toronto, Canada. pp.1-6
Conference papers hal-02134530v1

Contrôle des Vitesses d’Impact d’un Système Mécatronique de Barres Hopkinson avec Commande Robuste de la Pression, Calibration Numérique de la Mesure des Ondes de Déformation et Analyse Inverse

A. Gavrus , Sylvain Guegan , F. Marco
Congrès Fraçais de Mécanique, Aug 2019, Brest, France
Conference papers hal-02443162v1
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Design of a haptic guidance solution for assisted power wheelchair navigation

Louise Devigne , François Pasteau , Marie Babel , Vishnu K Narayanan , Sylvain Guegan
SMC2018 - IEEE International Conference on Systems, Man, and Cybernetics, Oct 2018, Miyazaki, Japan. pp.3231-3236, ⟨10.1109/SMC.2018.00547⟩
Conference papers hal-01866150v1
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Prise en compte du comportement des roues folles dans la cinématique des fauteuils roulants électriques

Aline Baudry , Sylvain Guegan , Marie Babel
IFRATH 2018 - 10ème Conférence sur les Aides Techniques pour les Personnes en Situation de Handicap, Handicap, Jun 2018, Paris, France. pp.1-7
Conference papers hal-01821863v1

Experimental Design, Modelling and Numerical Calibration of a High Speed SHPB Mechatronic System Using a Pneumatic Propulsion Device

Adinel Gavrus , Fabien Marco , Sylvain Guegan
Int. Conf. on Hydraulics and Pneumatics HERVEX'2017, Oct 2017, Govora, Romania
Conference papers hal-02443166v1
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HandiViz project: clinical validation of a driving assistance for electrical wheelchair

Marie Babel , François Pasteau , Sylvain Guégan , Philippe Gallien , Benoît Nicolas
IEEE Workshop On Advanced Robotics And Its Social Impacts (ARSO), Jul 2015, Lyon, France. ⟨10.1109/ARSO.2015.7428213⟩
Conference papers hal-01175784v1
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Laser ultrasound and simulated time reversal on bulk waves for non destructive control

Gaël Diot , H. Walaszek , Afia Kouadri-David , Sylvain Guégan , Jihed Flifla
3rd International Symposium on Laser Ultrasonics and Advanced Sensing, 2013, Yokohama, Japan. pp.012018, ⟨10.1088/1742-6596/520/1/012018⟩
Conference papers hal-02561188v1

Defect Detection and Sizing in Laser-Welded Aluminum Welds, Using Laser-Generated Ultrasounds

Diot Gaël , Afia Kouadri-David , H. Walaszek , Laurent Dubourg , Jihed Flifla
International Congress on Applications of Lasers & Electro-Optics (ICALEO), Oct 2011, Orlando, United States. Paper 408
Conference papers hal-01005425v1
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On the Design of PAMINSA: A New Class of Parallel Manipulators with High-Load Carrying Capacities

Sébastien Briot , Sylvain Guegan , Eric Courteille , Vigen Arakelian
2007 ASME International Design Engineering Technical Conferences (DETC 2007), Sep 2007, Las Vegas, United States
Conference papers hal-00451932v1
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Contribution to the Improvement of the Medical Device SurgiScope

Sébastien Briot , Cédric Baradat , Sylvain Guegan , Vigen Arakelian
2007 ASME International Design Engineering Technical Conferences (DETC 2007), Sep 2007, Las Vegas, NV, United States. pp.653-661, ⟨10.1115/DETC2007-35067⟩
Conference papers hal-00451933v1
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Design and Prototyping of New 4, 5 and 6 Degrees of Freedom Parallel Manipulators Based on the Copying Properties of the Pantograph Linkage

Vigen Arakelian , Sébastien Briot , Sylvain Guegan , Jean Le Flecher
36th International Symposium on Robotics, Nov 2005, Tokyo, Japan
Conference papers hal-00451948v1
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Static and Dynamic Analysis of the PAMINSA

Vigen Arakelian , Sylvain Guegan , Sébastien Briot
IDETC/CIE, ASME 2005 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Sep 2005, Long Beach, CA, United States. pp.803-809, ⟨10.1115/DETC2005-84679⟩
Conference papers hal-00451950v1
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Le PAMINSA : Un Nouveau Manipulateur d'Architecture Parallèle aux Mouvements Découplés

Sébastien Briot , Patrick Maurine , Sylvain Guegan , Vigen Arakelian
17ème Congrès Français de Mécanique, Sep 2005, Troyes, France
Conference papers hal-00451954v1
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Identification of the Dynamic Parameters of the Orthoglide

Sylvain Guegan , Wisama Khalil , Philippe Lemoine
IEEE International Conference on Robotics and Automation - ICRA 2003, Sep 2003, Taipei, Taiwan. pp. 3272-3277, ⟨10.1109/ROBOT.2003.1242095⟩
Conference papers hal-00362674v1
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Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide

Sylvain Guegan , Wisama Khalil , Damien Chablat , Philippe Wenger
CIFA, Jul 2002, Nantes, France. pp.1-6
Conference papers hal-00162630v1